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Hyundai CAN-FD: set available from TCS ACC available (#26921)

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* available on TCS signal always

* cmt enh

* better comment

* better
old-commit-hash: a24afa18d3b43f9ea02a15d99ba8eb07b8cc9709
This commit is contained in:
Shane Smiskol
2023-01-11 17:22:24 -08:00
committed by GitHub
parent e6f3cfd7f9
commit 92bd7e33fe
1 changed files with 2 additions and 3 deletions
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selfdrive/car/hyundai/carstate.py
+2 -3
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@@ -201,14 +201,14 @@ class CarState(CarStateBase):
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
# cruise state
# CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
if self.CP.openpilotLongitudinalControl:
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
else:
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
ret.cruiseState.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
@@ -484,7 +484,6 @@ class CarState(CarStateBase):
("ACCMode", "SCC_CONTROL"),
("VSetDis", "SCC_CONTROL"),
("CRUISE_STANDSTILL", "SCC_CONTROL"),
("MainMode_ACC", "SCC_CONTROL"),
]
checks += [
("SCC_CONTROL", 50),